Title :
Control of the kinematic car using trajectory generation and the high order sliding mode control
Author :
Benalia, A. ; Djemai, M. ; Barbot, J-P.
Author_Institution :
Equip. Commande des Syst., ENSEA, Cergy-Pontoise, France
Abstract :
In this paper we illustrate how to use the advantage of the differential flatness and the high order sliding mode control to deal with the problem of the trajectory planning and robust tracking of a car like robot.
Keywords :
closed loop systems; compensation; control system synthesis; feedback; mobile robots; nonlinear control systems; path planning; stability; tracking; variable structure systems; car like robot; closed loop systems; compensation; control system synthesis; differential flatness; feedback; kinematic car control; nonlinear control systems; path planning; robust tracking; sliding mode control; stability; trajectory generation; trajectory planning; Feedback; Kinematics; Mobile robots; Motion planning; Nonlinear systems; Robust control; Sliding mode control; Tracking; Vehicle dynamics; Vehicles;
Conference_Titel :
Systems, Man and Cybernetics, 2003. IEEE International Conference on
Print_ISBN :
0-7803-7952-7
DOI :
10.1109/ICSMC.2003.1244252
